\section{General}
   \subsection{Transformation}
     \subsubsection{Overview}
     \[ [T] = 
            \left[ \begin{array}{ccc}
               g_1 \cdot p_1 & g_1 \cdot p_2 & g_1 \cdot p_3 \\
               g_1 \cdot p_2 & g_2 \cdot p_2 & g_2 \cdot p_3 \\
               g_1 \cdot p_3 & g_2 \cdot p_3 & g_3 \cdot p_3 \\
            \end{array}\right]\]
     \subsubsection{Coordinates}
      \[ \{p_{Global}\}  = [T]\{p_{Local,XYZ}\} \]
      \[ \{p_{Local,XYZ}\} = [x_0,y_0,z_0]+[x,y,z] \]
      \[ \{p_{Local,RTZ}\} = [x_0,y_0,z_0]+transform([r,\theta,   z]) \]
      \[ \{p_{Local,RTP}\} = [x_0,y_0,z_0]+transform([r,\theta,\phi]) \]

     \subsubsection{FEM}
      These transformation from the element coordinate system to the global coordinate system is:
      \[ [K] = [T]^{-T} [K_e] [T]  \]

  \subsection{Moments of Inertia}
    Moments of Inertia are calculated as follows \cite{momentInertia}:
    \[ [I] = \Sigma_{i=0}^n m_i \left[ \begin{array}{ccc}
               y_i^2+z_i^2 & -x_i y_i    & -x_i z_i  \\
               -x_i y_i    & x_i^2+z_i^2 & -y_i z_i  \\
               -x_i z_i    & -y_i z_i    & x_i^2+y_i^2
            \end{array}\right] \]
